CN207479147U - A kind of photovoltaic panel cleaning robot - Google Patents

A kind of photovoltaic panel cleaning robot Download PDF

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Publication number
CN207479147U
CN207479147U CN201720723199.XU CN201720723199U CN207479147U CN 207479147 U CN207479147 U CN 207479147U CN 201720723199 U CN201720723199 U CN 201720723199U CN 207479147 U CN207479147 U CN 207479147U
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China
Prior art keywords
cleaning
panel
photovoltaic panel
fixed
motor
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CN201720723199.XU
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Chinese (zh)
Inventor
齐金定
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State Grid Corp of China SGCC
State Grid Hebei Electric Power Co Ltd
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State Grid Corp of China SGCC
State Grid Hebei Electric Power Co Ltd
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Priority to CN201720723199.XU priority Critical patent/CN207479147U/en
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Abstract

The utility model discloses a kind of photovoltaic panel cleaning robot, a pair of of deflecting roller, a pair of of universal wheel and handrail including chassis, on chassis further include slewing equipment, adjusting apparatus, cleaning device, water supply installation and control device.The slewing equipment includes the components such as revolving support, workbench and the turning motor and the swiveling gear that are fixedly mounted on chassis;The adjusting apparatus includes lifting unit, rotating part and pars contractilis;The cleaning device includes moving portion, spray portion and the first cleaning part and the second cleaning part;The water supply installation includes water tank, is located at the components such as accumulator tank and water pump on water tank;The control device includes microcontroller and control panel.Utility model can be to photovoltaic panel progress Rapid Cleaning, situation about especially largely being concentrated in processing this photovoltaic panel of photovoltaic plant, and the feature is more obvious.

Description

A kind of photovoltaic panel cleaning robot
Technical field
The utility model is related to photovoltaic generation corollary equipment fields, and in particular to a kind of photovoltaic panel cleaning robot.
Background technology
Expanding economy will necessarily be along with huge energy consumption.Conventional energy resource(Coal, oil, natural gas etc.)Be It was formed in the earth's crust through millions upon millions of years, these energy can not possibly regenerate in a short time.Contradiction also becomes between the energy and social development The reason of one of principal contradiction, the behinds such as the 4th Mideast Asian war, the Iran-Iraq war and the Gulf War in modern age is all to the energy The contention of ownership.
The energy problem of growing tension is directed to, countries in the world have put into huge strength and studied, with to energy The further investigation in source, regenerative resource have progressed into the sight of people.And as the photoelectricity in regenerative resource, because of its technology Simply, small investment and environment amenable characteristic are of increased attention.
Photovoltaic panel is the most ripe optoelectronic device of present technology, it is that a kind of exposure will generate direct current in the sun Power generator, thin body solid photovoltaic cell forms made of almost all is with semiconductor material (such as silicon).Due to not having The part of activity, therefore can be with long-time operation without leading to any loss.Photovoltaic panel can be made different shape, and can be with It is connected with each other to generate more electric power, balcony and building surface can be used or even are used as window, skylight or masking device A part.
In today that photovoltaic panel largely uses, efficiency is also of concern.The study found that the height of light transmission Low is one of key factor for influencing its efficiency.That is the clean level of photovoltaic panel is capable of the power generation of direct photovoltaic panel Efficiency.Domestic in China, the equipment of photovoltaic generation is mainly present in the form of photovoltaic plant light application time is long, intensity is high Central and west regions, but this some areas is had a contest apart from desert, is easily invaded by sand and dust, in air the content of sand and dust compared with It is high.Huge flushing dose and frequent cleaning frequency are urgent problems.
Utility model content
The utility model is intended to provide a kind of cleaning speed soon and the photovoltaic panel that water is reused can be cleaned Robot.
The utility model adopts the following technical solution:
A kind of photovoltaic panel cleaning robot, a pair of of deflecting roller including chassis, on chassis, a pair of of universal wheel and Handrail further includes slewing equipment, adjusting apparatus, cleaning device, water supply installation and control device.
The slewing equipment includes the revolving support being fixedly mounted on chassis, the work being bolted on revolving support Platform, the turning motor being fixedly mounted on chassis and the swiveling gear on turning motor output shaft;The swiveling gear It is engaged with revolving support.
The adjusting apparatus includes lifting unit, rotating part and pars contractilis.
The lifting unit includes fixed elevating lever A on the table, the elevating lever B and hydraulic pressure of elevating lever A are inserted into one end Push rod A;The hydraulic push rod A is located in elevating lever A, and one end and elevating lever A are hinged, and the other end and elevating lever B are hinged.
The rotating part includes rotating servo motor, speed reducer and the cantilever being fixed on speed reducer output shaft;The rotation Turn servo motor and speed reducer to be fixedly mounted on elevating lever B;The output terminal of the rotating servo motor and speed reducer it is defeated Enter end connection.
The pars contractilis includes being fixed on the baffle in cantilever, the telescopic arm in one end insertion cantilever and hydraulic push rod B;Institute One end and the panel hinge of hydraulic push rod B is stated, the other end is hinged with telescopic arm.
The cleaning device includes moving portion, spray portion and the first cleaning part and the second cleaning part.
The moving portion includes the movable plate being fixed on telescopic arm, the guide rail being fixed on movable plate, is fixed on guide rail It sliding block that the rack and guide rail of side are slidably connected, the mobile motor for being fixed on sliding block side and is exported mounted on mobile motor Carrier wheel on axis;The carrier wheel and rack engagement;The sliding block is equipped with cleaning panel.
The spray portion includes the spray tube being located on cleaning panel and the nozzle being distributed on spray tube.
First cleaning part includes the stent A being located on cleaning panel, the cleaning idler wheel being located on stent A and is fixed on Clean the first cleaning motor on panel;The first cleaning motor is connect with cleaning idler wheel by shaft coupling.
Second cleaning part is including being fixed on the stent B cleaned on panel, at least one turn be sleeved on stent B Axis, the cleaning wheel for being fixed on shaft one end, the driven sprocket for being fixed on the shaft other end, be fixedly mounted on stent B second Cleaning motor, the drive sprocket and driving chain that are fixedly mounted on the second cleaning motor output shaft;The driving chain with from Movable sprocket and drive sprocket engage.
The water supply installation includes water tank, the accumulator tank being located on water tank, the water outlet being located on water tank and water pump;It is described The input terminal of water pump is connected with water outlet, and output terminal is connect with spray tube.
The control device includes microcontroller and control panel.
As further solution:Optical signal generator and optical signal receiver are installed on the cleaning panel.
As further solution:The optical signal generator and optical signal receiver are tiltedly set in cleaning panel updip It puts.
As further solution:The optical signal generator is pressed from both sides with optical signal receiver and the minimum of cleaning panel Angle is identical.
As further solution:The cleaning panel is equipped with pressure sensor.
As further solution:The quantity at least two of the pressure sensor and it is arranged symmetrically in cleaning surface On plate.
As further solution:The both ends of the guide rail are mounted on anticollison block.
As further solution:The workbench is equipped with accumulator.
What the utility model generated has the beneficial effect that:
Photovoltaic plant is interior in a limited space to set photovoltaic face as much as possible in order to reach maximum space availability ratio Plate only leaves a small amount of channel and is used for daily tour and repair in advance.These reserved passageway are generally relatively narrow, large-scale cleaning equipment It can not carry out operation;Manual operation needs staff to hold the work such as bucket, scrubbing cloth, and for the larger photovoltaic of area Panel, it is also necessary to prepare the tools such as vertical ladder, height adjusting stool, operating rate is slow, and working efficiency is low.The utility model it is small, turn Curved convenience can carry out all standing, and washing and cleaning operation can be completed in one man operation to photovoltaic plant.Staff only needs to adjust Whole good position between the utility model and photovoltaic panel, remaining work can be automatically performed.Work can be significantly promoted in this way Make efficiency and cleaning frequency, make photovoltaic panel working efficiency maintain it is one higher within the scope of.
The utility model employs the mode that manual operation is combined with mechanically actuated.Staff is responsible for the shifting of equipment It is dynamic, and clean part and then use automation mechanized operation completely.The advantage of this set is equipment can be greatly lowered(With it is complete from Dynamicization equipment is compared)Cost and subsequent maintenance difficulties, by input and output control within a reasonable range.Simultaneously Staff can observation device at any time operating condition, be adjusted in time, ensure the peace of the utility model and photovoltaic panel Entirely.
The cleaning of the utility model is by the way of first rinsing, cleaning again, finally dry.Water pump extracts clear water from water tank After be transported to spray tube, then sprayed by being distributed on nozzle on spray tube.The clear water of ejection carries certain pressure, and Nozzle has angle with photovoltaic panel, can wash out the particulate matters such as the sandstone on photovoltaic panel upper surface, prevent in subsequent wiping Particulate matter scratches photovoltaic panel surface in the moving process with cleaning idler wheel during washing;With the movement of cleaning panel, rolling Wheel contacts with photovoltaic panel and photovoltaic panel is cleaned;Last cleaning wheel contact with photovoltaic panel and it is carried out to clean and It dries, it is water stain on removal photovoltaic panel, and last time scouring is carried out to panel, further improve the cleannes of panel.On The required component of washing and cleaning operation stated is set in cleaning reaching the standard grade property of panel, can once complete all cleaning steps, no Need to repeat, cleaning speed faster, cleaning efficiency higher.
In practice, the setting angle of each piece of photovoltaic panel is not near identical, the photovoltaic panel installation in same power station The parameters difference bigger such as height and setting angle, the utility model have angle regulation function, there is good adaptability to this. The lifting unit being made of elevating lever A, elevating lever B and hydraulic push rod A, elevating lever B can along elevating lever A pushing away in hydraulic push rod A It is dynamic to move back and forth, adjust the height of cleaning device;The rotating part being made of rotating servo motor, speed reducer and cantilever, cantilever can It is rotated with the rotation of speed reducer shaft, adjusts the depth of parallelism of cleaning part and photovoltaic panel;By baffle, telescopic arm and hydraulic thrust The pars contractilis of bar B compositions, hydraulic push rod B can push telescopic arm and be moved along cantilever, adjust between cleaning device and photovoltaic panel Distance;By above-mentioned height, the adjustment of angle and distance, the scope of application of the utility model expands significantly.
In cleaning process, if cleaning device is not parallel with photovoltaic panel, be easy to cause cleaning device and photovoltaic panel it Between pressure it is uneven, make the pressure between cleaning idler wheel or cleaning wheel and photovoltaic panel excessive or too small, be not achieved best Cleaning performance.The utility model applies to the principle of mirror-reflection in leveling, is operated first personnel by cleaning device tune It is whole arrive with photovoltaic panel less parallel, then start adjust automatically, positioned at cleaning panel on optical signal generator shine, irradiate Mirror-reflection occurs after on to photovoltaic panel, at the same time, cleaning device is still rotated to the direction parallel with photovoltaic panel, when After optical signal receiver on cleaning panel receives signal, illustrate that cleaning device is parallel with photovoltaic panel, cleaning device stops Rotation stop is moved.
Meanwhile the utility model can constantly adjust the pressure between cleaning device and photovoltaic panel in cleaning process. Pass through the pressure sensor being mounted on cleaning panel, while cleaning device is contacted with photovoltaic panel surface, pressure sensing Device contacts simultaneously, and pressure value is transferred back to control system, and the preset value of pressure is stored in control system, being capable of basis The comparison of return value and preset value adjusts the distance between cleaning device and photovoltaic panel in time, and then adjusts pressure therebetween Power reaches to big cleaning performance.
Description of the drawings
Fig. 1 is the utility model(Without cleaning device)Structure diagram;
Fig. 2 is the structure diagram of the cleaning device of the utility model;
Fig. 3 is the structure diagram of second cleaning part of the utility model;
Fig. 4 is the track of the utility model and the connection relationship diagram of anticollison block;
Fig. 5 is the structure diagram of the control device of the utility model;
Wherein:1 chassis, 11 deflecting rollers, 12 universal wheels, 13 handrails, 21 revolving supports, 22 workbench, 23 turning motors, 24 Swiveling gear, 31 elevating lever A, 32 elevating lever B, 33 hydraulic push rod A, 41 rotating servo motors, 42 speed reducers, 43 cantilevers, 51 gears Plate, 52 telescopic arms, 53 hydraulic push rod B, 61 movable plates, 62 guide rails, 63 racks, 64 sliding blocks, 65 mobile motors, 66 carrier wheels, 67 cleaning panels, 71 spray tubes, 72 nozzles, 81 stent A, 82 cleaning idler wheels, 83 first cleaning motors, 84 shaft couplings, 91 stents B, 92 shafts, 93 cleaning wheels, 94 driven sprockets, 95 second cleaning motors, 96 drive sprockets, 97 driving chains, 101 water tanks, 102 Accumulator tank, 103 water outlets, 104 water pumps, 111 microcontrollers, 112 control panels, 113 optical signal generators, 114 optical signals receive Device, 14 pressure sensors, 15 anticollison blocks, 16 accumulators.
Specific embodiment
The utility model is further described with reference to Fig. 1-5.
The utility model adopts the following technical solution:A kind of photovoltaic panel cleaning robot, including chassis 1, the bottom of mounted on A pair of of deflecting roller 11, a pair of of universal wheel 12 and handrail 13 on disk 1, further include slewing equipment, adjusting apparatus, cleaning device, confession Water installations and control device;
The slewing equipment includes being fixedly mounted on the One On The Chassis revolving support 21, being bolted on revolving support 21 Workbench 22, be fixedly mounted on the One On The Chassis turning motor 23 and the swiveling gear on 23 output shaft of turning motor 24;The swiveling gear 24 and revolving support 21 engage;
The adjusting apparatus includes lifting unit, rotating part and pars contractilis;
The lifting unit includes the elevating lever A31 being fixed on workbench 22, the elevating lever of elevating lever A31 is inserted into one end B32 and hydraulic push rod A33;The hydraulic push rod A33 is located in elevating lever A31, and one end and elevating lever A31 are hinged, the other end It is hinged with elevating lever B32;
The rotating part includes rotating servo motor 41, speed reducer 42 and the cantilever being fixed on 42 output shaft of speed reducer 43;The rotating servo motor 41 and speed reducer 42 are fixedly mounted on elevating lever B32;The rotating servo motor 41 it is defeated Outlet is connected with the input terminal of speed reducer 42;
The pars contractilis includes being fixed on the baffle 51 in cantilever 43, telescopic arm 52 and hydraulic pressure in one end insertion cantilever 43 Push rod B53;One end of the hydraulic push rod B54 is hinged with baffle 51, and the other end is hinged with telescopic arm 52;
The cleaning device includes moving portion, spray portion and the first cleaning part and the second cleaning part;
The moving portion includes the movable plate 61 being fixed on telescopic arm 52, the guide rail 62 being fixed on movable plate 61, consolidates It is scheduled on the sliding block 64 that the rack 63 of guide rail side and guide rail 62 be slidably connected, 65 and of mobile motor for being fixed on 64 side of sliding block Carrier wheel 66 on 65 output shaft of mobile motor;The carrier wheel 66 and rack 63 engage;On the sliding block 64 Equipped with cleaning panel 67;
The spray portion includes the spray tube 71 being located on cleaning panel 67 and the nozzle 72 being distributed on spray tube 71;
First cleaning part includes the stent A81 being located on cleaning panel 67, the cleaning idler wheel 82 being located on stent A81 With the first cleaning motor 83 being fixed on cleaning panel 67;The first cleaning motor 83 passes through shaft coupling with cleaning idler wheel 82 84 connections;
Second cleaning part includes the stent B91 being fixed on cleaning panel 67, be sleeved on stent B91 at least one A shaft 92, the driven sprocket 94 for being fixed on 92 other end of shaft, is fixedly mounted on the cleaning wheel 93 for being fixed on 92 one end of shaft Second on stent B91 cleans motor 95, the drive sprocket 96 being fixedly mounted on 95 output shaft of the second cleaning motor and transmission Chain 97;The driving chain 97 is engaged with driven sprocket 94 and drive sprocket 96;
The water supply installation includes water tank 101, the accumulator tank 102 being located on water tank 101, the water outlet being located on water tank 101 End 103 and water pump 104;The input terminal of the water pump 104 and water outlet 103 connect, and output terminal is connect with spray tube 71;
The control device includes microcontroller 111 and control panel 112.
As further solution:Optical signal generator 113 is installed on the cleaning panel 53 and optical signal connects Receive device 114.
As further solution:The optical signal generator 113 and optical signal receiver 114 are in cleaning panel 53 On be obliquely installed.
As further solution:The optical signal generator 12 and optical signal receiver 114 and cleaning panel 53 Minimum angle it is identical.
As further solution:The cleaning panel 67 is equipped with pressure sensor 14.
As further solution:The quantity at least two of the pressure sensor 14 and it is arranged symmetrically in cleaning On panel 67.
As further solution:The both ends of the guide rail 62 are mounted on anticollison block 15.
As further solution:Further include the accumulator 16 being located on workbench 22.
It is first that accumulator 16 is fully charged before use, full of water in water tank 101, then shift job site onto.This practicality It is novel small, it is light-weight, in narrow access path colleague and the cooperation by deflecting roller 11 and universal wheel 12, energy can be turned Enough easily to turn around or turn, flexibility is more preferably.Deflecting roller 11 is equal using universal wheel or the form of universal shaft and assembling tyre It can.
The utility model is sent to before the photovoltaic panel for needing to clean and suitably adjusts chassis 1 and photovoltaic panel by staff The parallel degree of pedestal.Then the control key of the control turning motor 23 on control panel 112 is pressed, control turning motor 23 is suitable Hour hands are rotated or are rotated counterclockwise, and are further adjusted the parallel degree of the utility model and photovoltaic panel pedestal, are ensured as possible The two is parallel.
Then button is replaced, the control key that control hydraulic push rod A33 is elongated or shortened is pressed, adjusts cleaning device and photovoltaic The relative altitude of panel.Hydraulic push rod A33 elongate or shorten be by hydraulic pressure stand control, during elongation, hydraulic station action, by hydraulic pressure Oil pressure enters hydraulic push rod A33, hydraulic push rod A33 elongations;During shortening, hydraulic oil is drawn back into hydraulic station, hydraulic push rod A33 elongation contractings It is short.
Then the parallel degree of cleaning device and photovoltaic panel is adjusted.It presses and rotating servo electricity is controlled on control panel 112 The control key of machine 41 adjusts the rotation direction of servo motor 41 by control, and then adjusts the flat of cleaning device and photovoltaic panel Stroke degree.
Continue to replace button, on the control key for replacing control hydraulic push rod B53.Hydraulic station acts, and hydraulic oil is inputted Hydraulic push rod B53, hydraulic push rod B53 extend, and cleaning device is pushed to be moved to the direction close to photovoltaic panel.
When cleaning device is close to photovoltaic panel, pressure sensor 14 can touch photovoltaic panel and feed back pressure signal Return control system.Control system upon receipt of the signals, control hydraulic push rod B53 no longer extend, i.e., cleaning device no longer to by The direction movement of nearly photovoltaic panel.The turning motor 23 of control system control at this time rotates, and adjustment cleaning device exists with photovoltaic panel The depth of parallelism in horizontal direction.When symmetrically arranged two pressure sensors 14 pass signal back on cleaning panel 67 During to control system and identical return value, turning motor 23 is not acting;In the process it is possible that turning motor 23 rotates 14 return path signal of pressure sensor that Shi Shouxian is contacted with photovoltaic panel disappears, the action of 23 similary stopping of turning motor at this time, liquid Push rod B53 actions are pressed, cleaning device is pushed to a certain pressure sensor 14 by signal return to the direction close to photovoltaic panel To control system, the action of hydraulic push rod B53 stoppings at this time, turning motor 23 acts, and repeats this process to cleaning device and photovoltaic Panel is parallel in the horizontal direction.
In horizontal direction after the completion of depth of parallelism adjustment, start to adjust the depth of parallelism on vertical direction.Optical signal generator 113 Signal is sent out, signal occurs on photovoltaic panel on mirror-reflection to cleaning panel.If panel and photovoltaic panel are cleaned at this time Parallel, optical signal receiver 114 should be able to receive signal, and when not receiving signal, the rotation of rotating servo motor 41 drives Cleaning device rotates, and further the parallel degree of adjustment therebetween is until optical signal receiver 114 receives signal.It adjusts herein In whole process, the numerical value that pressure sensor 14 passes control system back is likely larger than preset value and if cleaning device and photovoltaic Pressure between panel is bigger than normal, and photovoltaic panel may be damaged if continuation, the action of 41 stopping of rotating servo motor at this time, hydraulic pressure Push rod B53 act, make cleaning device to far from photovoltaic panel direction move to pressure recovery normal value after stop.Servo at this time Motor 41 continues to act, and cleaning device is driven to turn to parallel with photovoltaic panel, as the return value of pressure sensor 14 remains above Preset value then repeats the process, until the two is parallel.
Finally adjust the distance between cleaning device and photovoltaic panel.The two has reached scheduled parallel range at this time Interior, hydraulic push rod B53 actions make cleaning device be moved to the direction close to photovoltaic panel;Pressure sensor 14 returns pressure value Control system is reached, when return value reaches clear pressure preset, hydraulic push rod B53 stoppings action, adjustment process is completed.
Cleaning process starts, and water pump 104 extracts clear water from water tank 101 and is sent in spray tube 71, Ran Houjing first The nozzle 72 being distributed on spray tube 71 is crossed to be sprayed onto on photovoltaic panel.The water of ejection has certain pressure, can rinse out light Bulky grain, leaf or other sundries on underlying surface plate.Then the first cleaning motor 83 starts to rotate, and is driven by shaft coupling 84 Cleaning idler wheel 82 rotates, and cleaning idler wheel 82 is parallel to photovoltaic panel setting and high-speed rotation, can further remove photovoltaic panel On fine particle, improve its clean level.The second last cleaning motor 95 rotates, and drives the active being mounted on its output shaft Sprocket wheel 96 rotates, and drive sprocket 96 is rotated by the driven sprocket 94 that driving chain drive is attached thereto, and driven sprocket 94 drives Shaft 92 rotates and then cleaning wheel 93 is driven to rotate.Cleaning wheel 93 is vertically to be set with photovoltaic panel, can dry absorption light Moisture on underlying surface plate simultaneously improves its clean level again.It is flowed from the clear water that nozzle 72 sprays along photovoltaic panel, finally It falls into accumulator tank 102, water tank 101 is entered by accumulator tank 102.The utilization rate of water can be improved in this way.
Herein it should be noted that the cleaning content of above three part is carried out at the same time, only when most starting cleaning It is different with the time of contact of photovoltaic panel, and the cleaning content of three parts carries out successively.At the same time, mobile motor 65 is dynamic Make, cleaning panel 67 is driven to be moved along 62 direction of guide rail, cleans entire photovoltaic panel.
In photovoltaic plant, its installation parameter of closely located photovoltaic panel is substantially identical.That is clear The adjustment of multiple directions is needed when washing first piece.When cleaning second piece and later photovoltaic panel, it is only necessary to adjustment cleaning dress Pressure value this parameter between photovoltaic panel is put, adjustment time can be shortened in this way, improves working efficiency.
The strain-type pressure transmitter of model PT124B-210 can be used in the pressure sensor 14 being mentioned above;Light is believed Number generator 113 may be used such as model FU650AD20-BC10(BD10)As long as laser generator or other kinds of The generator of optical signal can be generated;Optical signal receiver 114 can use photo resistance(Convert optical signals to telecommunications Number)Or work is far from similar sensor;Microcontroller can use 80C51.Above-mentioned electrical components and the model provided only supply With reference to being not intended as the unique selection of the utility model.
Finally it should be noted that above example is only to illustrate the technical solution of the utility model, rather than its limitations, Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that, It still can modify to the technical solution recorded in previous embodiment or which part technical characteristic is equal It replaces, and these modifications or replacement, the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution Spirit and scope.

Claims (8)

1. a kind of photovoltaic panel cleaning robot, including chassis(1), mounted on chassis(1)On a pair of of deflecting roller(11), it is a pair of Universal wheel(12)And handrail(13), it is characterised in that:Further include slewing equipment, adjusting apparatus, cleaning device, water supply installation and control Device processed;
The slewing equipment includes being fixedly mounted on chassis(1)On revolving support(21), be bolted to revolving support(21) On workbench(22), be fixedly mounted on chassis(1)On turning motor(23)With mounted on turning motor(23)On output shaft Swiveling gear(24);The swiveling gear(24)And revolving support(21)Engagement;
The adjusting apparatus includes lifting unit, rotating part and pars contractilis;
The lifting unit includes being fixed on workbench(22)On elevating lever A(31), one end be inserted into elevating lever A(31)Elevating lever B(32)With hydraulic push rod A(33);The hydraulic push rod A(33)Positioned at elevating lever A(31)It is interior, one end and elevating lever A(31)Hinge It connects, the other end and elevating lever B(32)It is hinged;
The rotating part includes rotating servo motor(41), speed reducer(42)Be fixed on speed reducer(42)Cantilever on output shaft (43);The rotating servo motor(41)And speed reducer(42)It is fixedly mounted on elevating lever B(32)On;The rotating servo electricity Machine(41)Output terminal and speed reducer(42)Input terminal connection;
The pars contractilis includes being fixed on cantilever(43)Interior baffle(51), one end be inserted into cantilever(43)Interior telescopic arm(52)With Hydraulic push rod B(53);The hydraulic push rod B(53)One end and baffle(51)It is hinged, the other end and telescopic arm(52)It is hinged;
The cleaning device includes moving portion, spray portion, the first cleaning part and the second cleaning part;
The moving portion includes being fixed on telescopic arm(52)On movable plate(61), be fixed on movable plate(61)On guide rail (62), be fixed on the rack of guide rail side(63)And and guide rail(62)The sliding block being slidably connected(64), be fixed on sliding block(64)One The mobile motor of side(65)With mounted on mobile motor(65)Carrier wheel on output shaft(66);The carrier wheel(66)With Rack(63)Engagement;The sliding block(64)It is equipped with cleaning panel(67);
The spray portion includes being located at cleaning panel(67)On spray tube(71)Be distributed on spray tube(71)On nozzle (72);
First cleaning part includes being located at cleaning panel(67)On stent A(81), be located at stent A(81)On cleaning idler wheel (82)Be fixed on cleaning panel(67)On first cleaning motor(83);The first cleaning motor(83)With cleaning idler wheel (82)Pass through shaft coupling(84)Connection;
Second cleaning part includes being fixed on cleaning panel(67)On stent B(91), be sleeved on stent B(91)On at least One shaft(92), be fixed on shaft(92)The cleaning wheel of one end(93), be fixed on shaft(92)The driven sprocket of the other end (94), be fixedly mounted on stent B(91)On second cleaning motor(95), be fixedly mounted on the second cleaning motor(95)Output shaft On drive sprocket(96)And driving chain(97);The driving chain(97)With driven sprocket(94)And drive sprocket(96) Engagement;
The water supply installation includes water tank(101), be located at water tank(101)On accumulator tank(102), be located at water tank(101)On Water outlet(103)And water pump(104);The water pump(104)Input terminal and water outlet(103)Connection, output terminal and spray tube (71)Connection;
The control device includes microcontroller(111)And control panel(112).
2. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that:The cleaning panel(67)On Optical signal generator is installed(113)And optical signal receiver(114).
3. a kind of photovoltaic panel cleaning robot according to claim 2, it is characterised in that:The optical signal generator (113)And optical signal receiver(114)In cleaning panel(67)On be obliquely installed.
4. a kind of photovoltaic panel cleaning robot according to claim 3, it is characterised in that:The optical signal generator (113)With optical signal receiver(114)With cleaning panel(67)Minimum angle it is identical.
5. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that:The cleaning panel(67)On Equipped with pressure sensor(14).
6. a kind of photovoltaic panel cleaning robot according to claim 5, it is characterised in that:The pressure sensor(14) Quantity at least two and be arranged symmetrically in cleaning panel(67)On.
7. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that:The guide rail(62)Both ends It is mounted on anticollison block(15).
8. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that:The workbench(22)On set There is accumulator(16).
CN201720723199.XU 2017-06-21 2017-06-21 A kind of photovoltaic panel cleaning robot Active CN207479147U (en)

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CN110203340A (en) * 2019-06-13 2019-09-06 北京中科利丰科技有限公司 A kind of patrol unmanned ship of photovoltaic plant

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110191300A (en) * 2019-04-26 2019-08-30 特斯联(北京)科技有限公司 A kind of the video call equipment and its system in unmanned parking lot
CN110191300B (en) * 2019-04-26 2020-02-14 特斯联(北京)科技有限公司 Visual call equipment and system of unmanned parking lot
CN110203340A (en) * 2019-06-13 2019-09-06 北京中科利丰科技有限公司 A kind of patrol unmanned ship of photovoltaic plant

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